Assistance device

Abstract

This assistance device is provided with: a storage unit 140 that stores characteristic information of a speed-reduction device in association with information that enables identification of the type of the speed-reduction device; a first reception unit 121 that receives specification information of a robot; and a second reception unit 122 that receives designation of a speed-reduction device to be incorporated into each joint of the robot. The storage unit 140 stores characteristic information in a normal state of the speed-reduction device and characteristic information in an abnormal state of the speed-reduction device. The assistance device is further provided with a robot state information creation unit 133 that creates robot state information indicating a state of the robot when the designated speed-reduction device is incorporated into each joint to operate the robot, for each of a case where the speed-reduction device is normal and a case where the speed-reduction device is abnormal.

Description

support equipment

[0001] The present disclosure relates to an assistive device.

[0002] Patent Literature 1 discloses a failure prediction system that includes a machine learning device with a machine learning function for predicting robot failures. Learning is performed using sensors that detect the state of industrial machinery or the surrounding environment, internal data of control software that controls the industrial machinery, and data calculated from the sensor data or internal data.

[0003] Japanese Patent Application Laid-Open No. 2022-125288

[0004] Learning data is required for the learning of the above-mentioned machine learning device. In particular, for supervised learning, labeled learning data, i.e., training data, is required. Specifically, training data is required in which robot state variables indicating the state of the robot are labeled with a label indicating whether or not there is a failure or a label indicating the faulty part. However, because it takes a long time for a robot to fail, it is difficult to collect a sufficient amount of training data required for learning.

[0005] Such a problem can occur not only in systems that predict failures, i.e., systems that diagnose whether or not a failure is likely to occur, but also in systems that diagnose whether or not a failure has occurred.

[0006] The present disclosure has been made in consideration of these circumstances, and aims to provide a technology that supports the creation of training data necessary for learning a machine learning device to diagnose faults in robots.

[0007] In order to solve the above problems, an assistance device according to one aspect of the present disclosure includes a storage unit that stores characteristic information of a reduction gear in association with information that can identify the type of the reduction gear, a first reception unit that receives specification information of a robot, and a second reception unit that receives designation of a reduction gear to be incorporated into each joint of the robot. The storage unit further includes a robot status information creation unit that stores characteristic information when the reduction gear is in a normal state and characteristic information when the reduction gear is in an abnormal state, and creates robot status information that indicates the state of the robot when the designated reduction gear is incorporated into each joint and the robot is operated, for each of the cases where the reduction gear is normal and the case where the reduction gear is abnormal.

[0008] Any combination of the above components, or mutual substitution of the components or expressions of the present disclosure between methods, devices, systems, etc., are also valid aspects of the present disclosure.

[0009] According to the present disclosure, it is possible to provide a technology for supporting the creation of training data necessary for training a machine learning device for diagnosing faults in a robot.

[0010] 8 is a schematic diagram showing the configuration of a reduction gear selection support system according to a first embodiment. FIG. 9 is a block diagram showing the functions and configuration of the reduction gear selection support device of FIG. 1. FIG. 10 is a diagram showing an example of a selection support screen provided by the screen providing unit of FIG. 2. FIG. 11 is a diagram showing an example of an analysis result provided to a user. FIG. 12 is a diagram showing another example of an analysis result provided to a user. FIG. 13 is a diagram showing yet another example of an analysis result provided to a user. FIG. 14 is a diagram showing an example of a prediction result screen provided to a user. FIG. 15 is a diagram showing an example of the data structure of the material information storage unit of FIG. 2. FIG. 16 is a diagram showing an example of the data structure of the robot state information storage unit of FIG. 2. FIG. 17 is a diagram showing an example of a teacher data creation screen provided by the screen providing unit of FIG. 2. FIG. 18 is a block diagram showing the functions and configuration of a reduction gear selection support device according to a second embodiment. FIG. 19 is a diagram showing an example of a selection support screen provided by the screen providing unit of FIG.

[0011] Hereinafter, identical or equivalent components, parts, and steps shown in each drawing will be assigned the same reference numerals, and redundant explanations will be omitted where appropriate. Furthermore, the dimensions of the parts in each drawing will be enlarged or reduced as appropriate to facilitate understanding. Furthermore, some parts that are not important for explaining the embodiments will be omitted from the drawings.

[0012] (First embodiment) Fig. 1 is a schematic diagram showing the configuration of a support system 10 according to a first embodiment. The support system 10 is a system for supporting a user regarding a speed reducer. The support system 10 includes a support device 100 and a user terminal 200. The support device 100 and the user terminal 200 are connected via a network such as the Internet.

[0013] The support device 100 is an information processing device managed by a reduction gear manufacturer 102. The reduction gear manufacturer 102 is a company that manufactures reduction gears. The reduction gear is a reducer or a gear motor (a device in which a reducer and a motor are connected). Here, "managed by the reduction gear manufacturer 102" includes not only cases where the reduction gear manufacturer 102 directly manages it, but also cases where it is managed by a company commissioned by the reduction gear manufacturer 102.

[0014] In this embodiment, the support device 100 is configured as a single device (housing), but there is no limit to the number of physical housings for the support device 100, and it may be realized by cooperation of multiple devices.

[0015] The support device 100 realizes a "selection support function" and a "teacher data creation function." The selection support function is a function that supports the selection of a reduction gear to be incorporated into the joints of a robot. The teacher data creation function creates teacher data necessary for training a machine learning device to perform fault diagnosis on a robot incorporating the selected reduction gear. "Fault diagnosis" here includes at least one of diagnosing whether a fault has occurred and diagnosing whether a fault is likely to occur (i.e., fault prediction).

[0016] The user terminal 200 is an information processing terminal used by a user 202, and is, for example, a general PC, a tablet terminal, or a smartphone. The user 202 is not particularly limited, but is typically a robot manufacturer. In other words, the user 202 is a user who selects a reduction gear to be incorporated into a robot joint. In other words, the user 202 is a user who selects a reduction gear to be incorporated into a robot joint, and who incorporates the selected reduction gear into the robot joint and uses it.

[0017] FIG. 2 is a block diagram showing the functions and configuration of the assistance device 100. Each block shown here can be realized in hardware terms by elements or mechanical devices, such as a computer's central processing unit (CPU), and in software terms by a computer program, etc. However, the functional blocks shown here are realized by the cooperation of these elements. Therefore, those skilled in the art who have read this specification will understand that these functional blocks can be realized in various ways by combining hardware and software. The same applies to the block diagram in FIG. 8.

[0018] The assistance device 100 includes a communication unit 110, a data processing unit 120, and a storage unit 140. The communication unit 110 executes communication processing with the user terminal 200 in accordance with various communication protocols. The data processing unit 120 executes various data processing based on data acquired by the communication unit 110 and data stored in the storage unit 140. The storage unit 140 stores various types of data prepared in advance and data received from the communication unit 110 and the data processing unit 120.

[0019] The data processing unit 120 includes a first reception unit 121, a second reception unit 122, a third reception unit 123, a screen providing unit 125, a reduction gear identification unit 126, an analysis unit 127, an analysis result providing unit 129, a life prediction unit 130, a predicted life provision unit 131, a reduction gear proposal unit 132, a robot status information creation unit 133, and a robot status information providing unit 134.

[0020] The storage unit 140 includes a reduction gear information storage unit 141 , a material information storage unit 142 , and a robot state information storage unit (teacher data storage unit) 143 .

[0021] The components of the data processing unit 120 and the storage unit 140 are only those that are of interest in this embodiment.

[0022] <Selection Support Function> The selection support function will be described. The selection support function is mainly realized by a reduction gear information storage unit 141, a first reception unit 121, a second reception unit 122, a third reception unit 123, a screen provision unit 125, a reduction gear identification unit 126, an analysis unit 127, an analysis result provision unit 129, a life prediction unit 130, a predicted life provision unit 131, and a reduction gear proposal unit 132.

[0023] The reduction gear information storage unit 141 stores, for each of a plurality of reduction gears, a reduction gear ID for uniquely identifying the reduction gear, information for specifying the type of the reduction gear (hereinafter also referred to as type identification information), and characteristic information of the reduction gear, in association with each other. The type identification information includes the model, frame number, reduction ratio, etc. of the reduction gear.

[0024] If the reduction gear device is a reducer, the characteristic information includes characteristic information of the reducer. If the reduction gear device is a gear motor, the characteristic information includes characteristic information of both the reducer and the motor that make up the gear motor. The characteristic information includes friction, angular transmission error, etc. The characteristic information is not particularly limited, but is defined to change according to changes in the condition of the reduction gear device (e.g., temperature, rotation speed, etc.). In other words, friction is defined as a function with at least temperature and rotation speed as variables. Similarly, angular transmission error is defined as a function with at least the reducer rotation angle as a variable.

[0025] The reduction gear information storage unit 141 may store characteristic information of all reduction gears manufactured by the reduction gear manufacturer 102. Furthermore, the reduction gear information storage unit 141 may store characteristic information of reduction gears that have been manufactured in the past (i.e., production of which has been discontinued), in addition to characteristic information of reduction gears that are currently being manufactured.

[0026] The screen providing unit 125 transmits a selection support screen, which is a screen for supporting the selection of a speed reducer, to the user terminal 200 in response to a request, and causes the selection support screen to be displayed on the display of the user terminal 200 .

[0027] 3 is a diagram showing an example of a selection support screen 20 provided by the screen providing unit 125. The selection support screen 20 includes a template selection button 22, a robot display area 24, a workpiece information field 26, an arm information area 28, a joint information area 30, an operating condition field 32, an analysis button 34, and a life prediction button 35.

[0028] When the template selection button 22 is selected, a list of pre-prepared templates (not shown) is displayed. The user selects a template corresponding to the robot they wish to configure from the displayed list of templates. A schematic diagram of the robot of the selected template is displayed in the robot display area 24.

[0029] The mass characteristics of the workpiece are input in the workpiece information field 26. The mass characteristics include, for example, the weight, the position of the center of gravity, and the moment of inertia.

[0030] The arm information area 28 includes a link ID field 36 and a link mass properties field 38. The link ID field 36 displays an ID that identifies a link. The number of links in the robot is determined by selecting a template. The link mass properties field 38 is used to input the mass properties of the link.

[0031] The joint information area 30 includes a joint ID field 40, a joint position field 42, and a reduction gear field 44. The joint ID field 40 displays an ID that identifies a joint (axis of rotation). The number of joints in the robot is determined by selecting a template.

[0032] The three-dimensional position of each joint (axis of rotation) in the robot's reference posture (e.g., initial posture), with a predetermined reference point O (see the robot display area 24) as the origin, is input into the joint position field 42. Default values ​​set in the template may be input into the joint position field 42. In this case, the user can change the default values ​​in the joint position field 42, for example, by direct input, as necessary. Note that the positions of the joints in the illustration displayed in the robot display area 24 may be changeable by operations such as drag and drop, and the input in the joint position field 42 may be changed accordingly. In other words, the joint position field 42 may be input by changing the template.

[0033] In the reduction gear field 44, information specifying the reduction gear to be incorporated into each joint, such as the model, frame number, or specification information of the reduction gear, is entered. The specification information of the reduction gear includes, for example, the reduction ratio and required torque. If the reduction gear is a gear motor, the specification information of the reduction gear also includes, for example, the moment of inertia and maximum generated torque of the motor. In the joint position field 42, multiple pieces of information, such as multiple specification pieces, may be entered for one joint. For example, in the joint position field 42, both the reduction ratio and the required torque may be entered for one joint. Note that if the reduction gear does not include a motor, the moment of inertia and maximum generated torque of the motor may be selected from a template, as with the reduction gear, or may be individually specified by the user.

[0034] The operating conditions of the robot are input in the operating conditions field 32. For example, the operating conditions include the start and end points of the movement of a reference point P of a tool attached to the tip of the robot's arm, the stop time at each point, the presence or absence of a workpiece during operation, and the speed and acceleration of the movement of the reference point P. Another example of an operating condition is a three-dimensional target path along which the reference point P moves. The operating conditions may be input in a format predetermined for each type. The motor control method and control parameters used in analyzing behavior may be user-adjustable. Conditions for sequentially performing multiple operations may also be provided. Since it is desirable for a series of operations to be input as a single cycle in lifespan calculations, restrictions may be imposed so that the start and end points coincide when accepting user input.

[0035] When the analysis button 34 is selected, each information item in FIG. 3 is transmitted from the user terminal 200 to the assistance device 100, and the assistance device 100 executes an analysis, which will be described later.

[0036] When the life expectancy prediction button 35 is selected, each information item in FIG. 3 is transmitted from the user terminal 200 to the support device 100, and the support device 100 executes a life expectancy prediction, which will be described later.

[0037] Returning to Fig. 2, the first reception unit 121 receives robot specification information from a user via the user terminal 200. In detail, the first reception unit 121 receives, from the user terminal 200, information items related to the robot specifications on the selection support screen 20 in Fig. 3, specifically, the mass properties of the workpiece, the mass properties of the links, the number of joints, and the joint positions of each joint.

[0038] The second reception unit 122 receives designation of a reduction gear to be incorporated into each joint of the robot from the user via the user terminal 200. In detail, the second reception unit 122 receives input from the user terminal 200 into the reduction gear field 44 on the selection support screen 20 in FIG.

[0039] The third reception unit 123 receives the robot's operating conditions from the user via the user terminal 200. In detail, the third reception unit 123 receives input from the user terminal 200 into the operating conditions field 32 of the selection support screen 20 in FIG.

[0040] The reduction gear identification unit 126 identifies a reduction gear based on the designation of a reduction gear received by the second reception unit 122. Specifically, the reduction gear identification unit 126 identifies, from the reduction gear information storage unit 141, the reduction gear ID of a reduction gear that matches the designation of a reduction gear received by the second reception unit 122, and the characteristic information of that reduction gear. It is possible that multiple reduction gears are identified. For example, if the information specifying a reduction gear is specification information of a reduction gear, there may be multiple reduction gears that match the specification information, i.e., that satisfy the specification information. In this case, the reduction gear identification unit 126 may identify the multiple reduction gears.

[0041] The analysis unit 127 performs a simulation to analyze the behavior of a robot having specifications accepted by the first acceptance unit 121 when the reduction gears identified by the reduction gear identification unit 126 based on the specifications accepted by the second acceptance unit 122 are incorporated into the joints of the robot and the robot is operated under the operating conditions accepted by the third acceptance unit 123. The analysis unit 127 performs this analysis when, for example, the analysis button 34 in FIG. 3 is selected. The analysis unit 127 may perform the analysis using known or future available analysis techniques. In this analysis, the analysis unit 127 uses characteristic information stored in the reduction gear information storage unit 141 as characteristic information of the reduction gears incorporated into each joint.

[0042] When the reduction gear specifying unit 126 specifies a plurality of reduction gears for a certain joint, the analysis unit 127 may sequentially incorporate the plurality of reduction gears and analyze the behavior in each case.

[0043] The analysis result providing unit 129 provides the user with the analysis results obtained by the analysis unit 127. The analysis results include, for example, the deviation from a command value regarding the position of a reference point P of a tool attached to the tip of the robot's arm, the deviation from a command value regarding the rotation angle of each joint (rotation axis), and a comparison between the load applied to the reduction gear and the allowable load included in the characteristic information of the reduction gear. The analysis result providing unit 129, for example, transmits an analysis result screen showing the analysis results to the user terminal 200 and displays the analysis results on the display of the user terminal 200.

[0044] Fig. 4 is a diagram showing an example of the analysis results provided to the user. The analysis results in this example are the error from the command value when the reference point P of the tool is moved along the target trajectory. In Fig. 4, the horizontal axis represents time, and the vertical axis represents the position of the reference point P of the tool. The solid line graph represents the analysis results, and the dashed line graph represents the command value.

[0045] Fig. 5 is a diagram showing another example of analysis results provided to the user. In Fig. 5, the horizontal axis represents time, and the vertical axis represents the load applied to the joint, i.e., the reduction gear. The solid line graph represents the analysis results, and the dashed line represents the allowable load of the reduction gear.

[0046] By checking the analysis results in Figures 4 and 5, the user can see at a glance how the robot will behave when the specified reduction gear is installed.

[0047] FIG. 6 is a diagram showing yet another example of analysis results provided to the user. Similar to FIG. 4, the analysis results in this example are errors from command values ​​when the reference point P of the tool is moved along the target trajectory. This example shows the analysis results when the reduction gear identification unit 126 identifies multiple reduction gear candidates for a certain joint and the analysis unit 127 analyzes the behavior in each case. Here, the solid and dashed-dotted line graphs represent the analysis results, and the dashed line graphs represent the command values. By presenting the analysis results for each of the multiple candidates, the user can select a more appropriate reduction gear.

[0048] Returning to FIG. 2 , the life prediction unit 130 predicts the life of the reduction gear identified by the reduction gear identification unit 126 based on the specifications accepted by the second acceptance unit 122 when the reduction gear is incorporated into a joint of a robot having specifications accepted by the first acceptance unit 121 and the robot is operated under the operating conditions accepted by the third acceptance unit 123. For example, this life prediction is performed when the life prediction button 35 in FIG. 3 is selected. The life prediction unit 130 may predict the life of the reduction gear using a publicly known or future available prediction technology. The predicted life is expressed as the time until failure when the operating conditions specified by the user are repeatedly performed. When the robot has multiple joints, the life prediction unit 130 may predict the life of candidate reduction gears for each joint.

[0049] For example, the life prediction unit 130 may predict the life using a known or future available life calculation formula. For example, the life calculation formula may include the rated life [h], rated rotational speed [rpm], and rated torque [Nm] of the reduction gear device as parameters, and the average rotational speed [rpm] and average load torque [Nm] of the reduction gear device as variables. In this case, the life prediction unit 130 may substitute the average rotational speed and average load torque obtained by analysis using the characteristic information stored in the reduction gear device information storage unit 141 into the life calculation formula. This analysis may be performed by the life prediction unit 130 or by the analysis unit 127.

[0050] When the reduction gear specifying unit 126 specifies a plurality of reduction gears for a certain joint, the life expectancy predicting unit 130 may sequentially incorporate the plurality of reduction gears and predict the life expectancy of each of them.

[0051] The predicted lifespan providing unit 131 provides the user with the predicted result of the lifespan of the reduction gear predicted by the lifespan predicting unit 130. For example, the predicted lifespan providing unit 131 transmits a lifespan prediction result screen showing the predicted result of the lifespan to the user terminal 200, and displays it on the display of the user terminal 200.

[0052] The reduction gear proposal unit 132 determines whether the life of the reduction gear predicted by the life prediction unit 130 satisfies a predetermined life condition. If the predicted life does not satisfy the predetermined life condition, the reduction gear proposal unit 132 proposes a reduction gear other than the reduction gear to the user. For example, the reduction gear proposal unit 132 transmits a proposal screen proposing a different reduction gear to the user terminal 200 and displays it on the display of the user terminal 200.

[0053] The predetermined life condition may be that the predicted life satisfies a predetermined life requirement. Specifically, the predetermined life condition may be that the predicted life (time) is equal to or greater than a generally required life (e.g., 20,000 hours). Alternatively, the predetermined life condition may be equal to or greater than a total number of operating cycles (e.g., 1 million cycles) where a series of operating conditions input by the user is considered as one cycle. Alternatively, the predetermined life condition may be equal to or greater than a total number of operating cycles specified by input by the user.

[0054] The predetermined life condition may be that the predicted life is equal to or greater than a required life specified by the user, which may be expressed in terms of time or the total number of rotations.

[0055] The other reduction gear is not particularly limited, but may be a reduction gear having a higher load capacity than the reduction gear specified by the user, i.e., the reduction gear determined not to satisfy the predetermined life condition, typically a larger reduction gear. In this case, the other reduction gear may be all reduction gears stored in the reduction gear information storage unit 141 that have a higher load capacity than the reduction gear specified by the user.

[0056] Alternatively, the other reduction gear may be a reduction gear that has a larger load capacity than the reduction gear specified by the user and that has a load capacity closest to that of the reduction gear specified by the user, among the multiple reduction gears stored in the reduction gear information storage unit 141. In other words, the other reduction gear may be a reduction gear that is one size larger than the reduction gear specified by the user, among the multiple reduction gears stored in the reduction gear information storage unit 141.

[0057] For a reduction gear that does not satisfy a predetermined life condition, the reduction gear proposal unit 132 provides the user with type identification information of another reduction gear proposed by the reduction gear proposal unit 132 .

[0058] 7 is a diagram showing an example of a lifespan prediction result screen provided to the user. The lifespan prediction result screen in this example includes the joint ID of each joint, the lifespan conditions required of the reduction gear of each joint, the predicted lifespan of the reduction gear of each joint specified by the user, and type-specific information of another reduction gear that is proposed if the lifespan conditions are not met. In this example, the lifespan prediction result screen also serves as a proposal screen for another reduction gear.

[0059] By checking the life prediction result screen of Figure 7, the user can see at a glance the life of the reduction gear device specified by the user, whether that life meets the life conditions, and what other reduction gear devices will be suggested if the life conditions are not met.

[0060] The above is the configuration related to the selection support function. Next, the operation related to the selection support function will be described. The support device 100 provides the selection support screen 20 to the user terminal 200 in response to a request. The user inputs robot specification information, a designation of a reduction gear to be incorporated into the robot, and the operating conditions of the robot into the selection support screen 20 via the user terminal 200.

[0061] When the analysis button 34 on the selection support screen 20 is selected, the user terminal 200 transmits each information item on the selection support screen 20 to the support device 100. The first reception unit 121, the second reception unit 122, and the third reception unit 123 of the support device 100 respectively receive robot specification information, a specification of a reduction gear to be incorporated into the robot, and the robot's operating conditions. The analysis unit 127 analyzes the behavior of a robot having specifications accepted by the first reception unit 121 when a reduction gear identified based on the specification accepted by the second reception unit 122 is incorporated into a joint of the robot and the robot is operated under the operating conditions accepted by the third reception unit 123. In this case, the analysis unit 127 performs analysis using characteristic information stored in the reduction gear information storage unit 141 as characteristic information of the reduction gear incorporated into each joint, i.e., characteristic information that changes depending on changes in conditions such as temperature and rotation speed. The analysis result providing unit 129 provides the user with the analysis results by the analysis unit 127.

[0062] When the life prediction button 35 on the selection support screen 20 is selected, the user terminal 200 transmits each information item on the selection support screen 20 to the support device 100. The first reception unit 121, second reception unit 122, and third reception unit 123 of the support device 100 respectively receive robot specification information, a specification of a reduction gear to be incorporated into the robot, and the robot's operating conditions. The life prediction unit 130 predicts the life of the reduction gear identified based on the specification accepted by the second reception unit 122 when the reduction gear is incorporated into a joint of a robot having the specifications accepted by the first reception unit 121 and the robot is operated under the operating conditions accepted by the third reception unit 123. In this case, the life prediction unit 130 performs an analysis using, for example, characteristic information stored in the reduction gear information storage unit 141, and substitutes the average rotation speed and average load torque obtained by the analysis into a life calculation formula to calculate the life of the reduction gear. The predicted life provision unit 131 provides the user with the predicted life of the reduction gear predicted by the life prediction unit 130. If the life of the reduction gear predicted by the life prediction unit 130 does not satisfy a predetermined life condition, the reduction gear suggestion unit 132 suggests to the user a reduction gear other than the reduction gear predicted by the life prediction unit 130.

[0063] The above is the operation of the selection support function. Next, the effects of the selection support function will be explained.

[0064] According to this embodiment, the assistance device 100 predicts the lifespan of the reduction gear based on the specification information of the robot received from the user, the designation of the reduction gear to be incorporated into the joints of the robot, the operating conditions of the robot, and the stored characteristic information of the reduction gear, and provides the prediction result to the user. Therefore, according to this embodiment, it is possible to reduce the burden on the user in predicting the lifespan of the reduction gear and, ultimately, in selecting a reduction gear.

[0065] Furthermore, according to this embodiment, when there are multiple reduction gears that match the reduction gear specification from the user, the assistance device 100 sequentially incorporates the multiple reduction gears into the joints of the robot, predicts the lifespan for each case, and provides these prediction results to the user. By being presented with the predicted lifespan for each of the multiple candidates, the user can select a more appropriate reduction gear.

[0066] Furthermore, according to this embodiment, the assistance device 100 analyzes the behavior of the robot's operation based on the robot specification information, the designation of the reduction gear, and the robot's operating conditions received from the user, as well as the stored characteristic information of the reduction gear, and provides the user with the analysis results. Here, the assistance device 100 stores characteristic information that changes in response to changes in the situation of the reduction gear as the characteristic information of the reduction gear, and performs analysis that takes the changes in the situation of the reduction gear into consideration. Therefore, according to this embodiment, it is possible to perform a highly accurate analysis and appropriately select a reduction gear while reducing the burden on the user.

[0067] Furthermore, according to this embodiment, when there are multiple reduction gears that match the reduction gear specification from the user, the assistance device 100 sequentially incorporates the multiple reduction gears into the joints of the robot, analyzes the behavior in each case, and provides the user with the analysis results. By presenting the analysis results for when each of the multiple candidates is incorporated, the user can select a more appropriate reduction gear.

[0068] Furthermore, according to this embodiment, the assistance device 100 receives the robot's operating conditions from the user and analyzes the behavior of the robot when operated under those operating conditions. By analyzing the behavior of the robot when operated under actual operating conditions, more appropriate selection becomes possible.

[0069] Furthermore, according to this embodiment, the assistance device 100 accepts robot specification information input in the form of modifying a robot template prepared in advance. In other words, the user can input robot specification information in the form of modifying a robot template prepared in advance. This reduces the burden on the user.

[0070] <Teacher Data Creation Function> The teacher data creation function will be described with reference to Fig. 2. The teacher data creation function is mainly realized by the material information storage unit 142, the robot state information storage unit 143, the first reception unit 121, the second reception unit 122, the third reception unit 123, the screen provision unit 125, the speed reduction device identification unit 126, the robot state information creation unit 133, and the robot state information provision unit 134.

[0071] FIG. 8 is a diagram showing an example of the data structure of the material information storage unit 142. As shown in FIG.

[0072] The material information storage unit 142 stores information for creating robot state information. The material information storage unit 142 stores a reduction gear ID, a data ID, characteristic information of the reduction gear, and state information of the reduction gear in association with each other. In other words, the reduction gear information storage unit 141 stores a data set of the reduction gear ID, data ID, characteristic information, and state information for each of a plurality of reduction gears.

[0073] The type specification information includes the model, frame number, reduction ratio, etc. of the reduction gear device.

[0074] If the reduction gear device is a reducer, the characteristic information includes characteristic information of the reducer. If the reduction gear device is a gear motor, the characteristic information includes characteristic information of both the reducer and the motor that make up the gear motor. The characteristic information includes stiffness, friction, angular transmission error, etc.

[0075] The status information indicates the status of the reduction gear. Normal indicates that the reduction gear is normal, i.e., the characteristic information is for the reduction gear in a normal state. Abnormal indicates that the reduction gear is abnormal, i.e., the characteristic information is for the reduction gear in an abnormal state.

[0076] The material information storage unit 142 may store information about all reduction gears manufactured by the reduction gear manufacturer 102. Furthermore, the reduction gear information storage unit 141 may store information about reduction gears that have been manufactured in the past (i.e., whose manufacture has been discontinued), in addition to information about reduction gears that are currently being manufactured.

[0077] The material information storage unit 142 stores n ａ pieces, n ｂ pieces, n ｃ pieces, n ｄ pieces, n ｅ pieces, n ｆ pieces, n ｇ The number of data sets stored is n. ａ , n ｂ , nｃ , n ｄ , n ｅ , n ｆ and n ｇ is any integer equal to or greater than 2.

[0078] The material information storage unit 142 stores, for each of the multiple reduction gears, both a data set in which the status information is normal and a data set in which the status information is abnormal. In other words, for each of the multiple reduction gears, the material information storage unit 142 stores both characteristic information in which the reduction gear is in a normal state and characteristic information in which the reduction gear is in an abnormal state.

[0079] The material information storage unit 142 preferably stores, for each of the plurality of reduction gears, a plurality, more preferably a large number of data sets in which the reduction gear is in a normal state and the characteristic information is different from one another. Also, the reduction gear information storage unit 141 preferably stores, for each of the plurality of reduction gears, a plurality, more preferably a large number of data sets in which the reduction gear is in an abnormal state and the characteristic information is different from one another. Note that the characteristic information being different from one another means that at least one of stiffness, friction, and angular transmission error is different from one another.

[0080] FIG. 9 is a diagram showing an example of the data structure of the robot state information storage unit 143. As shown in FIG.

[0081] The robot status information storage unit 143 stores robot status information indicating the state of the robot when the robot is operated, in association with a label indicating whether or not an abnormality has occurred in the robot when the robot is in that state. In other words, the robot status information storage unit 143 stores training data in which a label indicating whether or not an abnormality has occurred in the robot has been assigned to the robot status information.

[0082] In this example, the robot status information includes the tool position, motor current, and vibration. The tool position is the position of the reference point P of the tool attached to the tip of the robot's arm (see Figure 10 described below). The motor current is the motor current of the motor that drives the reduction gear. If the reduction gear is a reducer, the motor is the motor connected to the reduction gear, and if the reduction gear is a gear motor, the motor is the motor that constitutes the gear motor. The vibration is vibration at a specified position of the robot.

[0083] Returning to FIG. 2, the screen providing unit 125 transmits a teacher data creation screen, which is a screen for creating teacher data, to the user terminal 200 in response to a request, and displays it on the display of the user terminal 200.

[0084] 10 is a diagram showing an example of a teacher data creation screen 60 provided by the screen providing unit 125. The teacher data creation screen 60 includes a template selection button 22, a robot display area 24, a work information field 26, an arm information area 28, a joint information area 30, an operation condition field 32, and a teacher data creation button 62.

[0085] The template selection button 22, robot display area 24, work information field 26, arm information field 28, joint information field 30, and motion condition field 32 are each configured in the same manner as those in Fig. 3. The user selects a template corresponding to a robot into which or which has incorporated the selected reduction gear from a list of templates displayed by selecting the template selection button 22. Furthermore, information specifying the reduction gear to be incorporated into or which has been incorporated into each joint is input into the reduction gear field 44 of the joint information field 30.

[0086] When the teacher data creation button 62 is selected, each information item in FIG. 10 is sent from the user terminal 200 to the assistance device 100, and the assistance device 100 creates teacher data, which will be described later.

[0087] Returning to Fig. 2, as described in relation to the selection support function, the first reception unit 121 receives robot specification information from the user via the user terminal 200. In relation to the teacher data creation function, the first reception unit 121 receives information items relating to the robot specifications on the teacher data creation screen 60 in Fig. 10 from the user terminal 200.

[0088] As described with respect to the selection support function, the second reception unit 122 receives designation of a reduction gear to be incorporated into each joint of the robot from the user via the user terminal 200. In the teacher data creation function, the second reception unit 122 receives input from the user terminal 200 into the reduction gear field 44 on the teacher data creation screen 60 in FIG.

[0089] As described with respect to the selection support function, the third reception unit 123 receives the robot's operating conditions from the user via the user terminal 200. In the teacher data creation function, the third reception unit 123 receives input from the user terminal 200 into the operating condition field 32 of the teacher data creation screen 60 in FIG.

[0090] As explained with respect to the selection support function, the speed reducer specification unit 126 specifies a speed reducer based on the specification of the speed reducer accepted by the second acceptance unit 122 .

[0091] The robot state information creation unit 133 creates robot state information that indicates the state of the robot when the reduction gear identified by the reduction gear identification unit 126 based on the specifications accepted by the second acceptance unit 122 is incorporated into the joints of a robot having specifications accepted by the first acceptance unit 121, and the robot is operated under the operating conditions accepted by the third acceptance unit 123. The robot state information creation unit 133 executes this creation when, for example, the teacher data creation button 62 in FIG. 10 is selected.

[0092] The robot state information creation unit 133 may create robot state information for when the reduction gear is incorporated into the robot and the robot is operated under the operating conditions, through a simulation analysis. In this case, the robot state information creation unit 133 may perform the analysis using a known or future available analysis technique.

[0093] In creating this information, the robot state information creation unit 133 uses the characteristic information stored in the material information storage unit 142 as the characteristic information of the reduction gear for each joint. The robot state information creation unit 133 creates robot state information for each combination of characteristic information of the reduction gear for each joint. The robot state information creation unit 133 creates robot state information when a normal reduction gear and an abnormal reduction gear are used for each joint.

[0094] For example, if a robot has joints 1 to 6, each of which is fitted with a reduction gear A to F, the robot state information creation unit 133 calculates the nth reduction gear of the reduction gear A of the joint 1. ａ characteristic information, n of the reduction gear B of the joint 2 ｂ characteristic information, n of the reduction gear C of the joint 3 ｃ characteristic information, n of the reduction gear D of the joint 4 ｄ characteristic information, n of the reduction gear E of the joint 5 ｅ characteristic information, n of the reduction gear F of the joint 6 ｆ Combining all characteristic information (n ａ ×n ｂ ×n ｃ ×n ｄ ×n ｅ ×n ｆ ) pieces of robot status information may be created.

[0095] The robot state information creation unit 133 stores the created robot state information in the robot state information storage unit 143. In particular, the robot state information creation unit 133 stores the robot state information in the robot state information storage unit 143 in association with a label indicating whether or not an abnormality has occurred in the robot when the robot is in that state.

[0096] If all of the reduction gears of the joints used to create the robot state information are normal, the robot state information creation unit 133 sets the created robot state information as normal robot state information, that is, robot state information for when the robot is normal. In this case, the robot state information creation unit 133 associates the robot state information with a normal label and stores it in the robot state information storage unit 143.

[0097] If at least one of the reduction gears of each joint used to create the robot state information is abnormal, the robot state information creation unit 133 sets the created robot state information as abnormal robot state information, that is, robot state information for a case where the robot (specifically, at least one reduction gear incorporated in the robot) is abnormal. In this case, the robot state information creation unit 133 associates the robot state information with an abnormality label and stores it in the robot state information storage unit 143.

[0098] 2 , the robot state information providing unit 134 provides the user with robot state information associated with the labels stored in the robot state information storage unit (teacher data storage unit) 143, i.e., teacher data. The robot state information providing unit 134 transmits the teacher data to the user terminal 200, for example.

[0099] The above is the configuration related to the teacher data creation function. Next, the operation related to the teacher data creation function will be described. The assistance device 100 provides a teacher data creation screen 60 to the user terminal 200 in response to a request. The user inputs robot specification information, designation of a reduction gear to be incorporated or has been incorporated into the robot, and operating conditions of the robot into the teacher data creation screen 60 via the user terminal 200.

[0100] When the teacher data creation button 62 on the teacher data creation screen 60 is selected, the user terminal 200 transmits each information item on the teacher data creation screen 60 to the assistance device 100. The first reception unit 121, second reception unit 122, and third reception unit 123 of the assistance device 100 each receive robot specification information, a specification of a reduction gear to be incorporated into the robot or that has been incorporated into the robot, and the robot's operating conditions. The robot state information creation unit 133 creates robot state information indicating the state of the robot when a reduction gear identified based on the specification accepted by the second reception unit 122 is incorporated into the joints of a robot having specifications accepted by the first reception unit 121 and the robot is operated under the operating conditions accepted by the third reception unit 123. In this case, the robot state information creation unit 133 uses characteristic information stored in the material information storage unit 142 as characteristic information of the reduction gear incorporated into each joint. The robot state information creation unit 133 associates the created robot state information with a label indicating whether or not an abnormality has occurred in the robot when the robot is in that state, and stores the associated information in the robot state information storage unit 143. The robot state information provision unit 134 provides the robot state information associated with the label, i.e., the training data, to the user.

[0101] The above is the operation of the teacher data creation function. Next, the effects of the teacher data creation function will be explained.

[0102] According to this embodiment, the assistance device 100 creates robot status information based on the robot specification information, the designation of the reduction gear, and the robot's operating conditions received from the user, as well as the stored characteristic information of the reduction gear. The assistance device 100 defines the robot status information when the reduction gear is normal as normal robot status information, and defines the robot status information when the reduction gear is abnormal as abnormal robot status information. The assistance device 100 provides these as training data to the user terminal 200. This reduces the burden on the user of creating training data for robot machine learning.

[0103] Second Embodiment In the first embodiment, the specifications of the robot, the designation of the reduction gear to be incorporated into the robot, and the operating conditions of the robot are received from the user, and the lifespan of the reduction gear when the robot with the reduction gear incorporated into a joint is operated under the operating conditions is predicted and provided to the user. In the second embodiment, the specifications of the robot and the operating conditions of the robot are received from the user, and a reduction gear suitable for operating the robot under the operating conditions is proposed. The following mainly describes the differences from the first embodiment.

[0104] 11 is a block diagram showing the functions and configuration of the support device 100 according to the second embodiment. The data processing unit 120 of the support device 100 according to the second embodiment includes a first reception unit 121, a third reception unit 123, a screen providing unit 125, a speed reducer identification unit 126, a speed reducer proposal unit 132, a robot state information creation unit 133, and a robot state information providing unit 134.

[0105] The support device 100 realizes a "selection support function" and a "teacher data creation function." The teacher data creation function is realized in the same way as in the first embodiment. The following describes the selection support function, focusing on the differences from the selection support function of the first embodiment.

[0106] The selection support function is mainly realized by the speed reducer information storage unit 141 , the first reception unit 121 , the third reception unit 123 , the screen providing unit 125 , and the speed reducer proposing unit 132 .

[0107] Fig. 12 is a diagram showing an example of a selection support screen 20 provided by the screen providing unit 125 of Fig. 11. The selection support screen 20 includes a template selection button 22, a robot display area 24, a workpiece information field 26, an arm information area 28, a joint information area 30, an operation condition field 32, a behavior field 33, and a suggestion button 56.

[0108] In this embodiment, the joint information area 30 further includes a required lifespan column 46. In the required lifespan column 46, the required lifespan of the reduction gear device incorporated in each joint is input.

[0109] In the behavior column 33, the robot behavior that is desired to be realized when the robot is operated under the operating conditions entered in the operating condition column 32 is entered. For example, if the operating conditions include the start and end points of movement of a reference point P of a tool attached to the tip of the robot's arm, and the speed and acceleration at which the reference point P moves, the behavior that is desired to be realized may be that the load applied to the reduction gear is equal to or less than a specified load, or that the deviation from the command for the second position, which is the destination position, is equal to or less than a predetermined value. Also, for example, if the operating condition is a three-dimensional target path, the behavior that is desired to be realized may be that the deviation from the command is equal to or less than a predetermined value. Note that the behavior column 33 may be left blank.

[0110] When the suggestion button 56 is selected, each information item in FIG. 12 is transmitted from the user terminal 200 to the support device 100, and the suggestion described below is executed in the support device 100.

[0111] Returning to Fig. 11, the third reception unit 123 of this embodiment further receives the required lifespan of the reduction gear device to be incorporated into each joint of the robot. In detail, the third reception unit 123 further receives input into the required lifespan field 46 of the selection support screen 20 of Fig. 12.

[0112] The life prediction unit 130 sequentially incorporates each of the multiple reduction gears stored in the reduction gear information storage unit 141 into a robot with specifications accepted by the first reception unit 121, and predicts the life of each of the multiple reduction gears when the robot is operated under the operating conditions accepted by the third reception unit 123.

[0113] The reduction gear suggestion unit 132 proposes one or more reduction gears suitable for operating the robot under the operating conditions accepted by the third acceptance unit 123 based on the lifespan prediction result by the lifespan prediction unit 130 .

[0114] For example, the reduction gear proposal unit 132 may propose one or more reduction gears whose predicted lifespans are equal to or greater than the required lifespan as candidates. If there is one reduction gear whose predicted lifespans are equal to or greater than the required lifespan, the reduction gear proposal unit 132 may propose that one reduction gear as a candidate, and if there are multiple reduction gears whose predicted lifespans are equal to or greater than the required lifespan, the reduction gear proposal unit 132 may propose those multiple reduction gears as candidates.

[0115] If the required lifespan is not input, the reduction gear suggestion unit 132 may suggest the reduction gear with the longest predicted lifespan as a candidate.

[0116] The third reception unit 123 may further receive a behavior that the user wants the robot to achieve. Specifically, when a behavior that the user wants the robot to achieve is input in the behavior field 33 of the selection support screen 20 in FIG. 12 , the third reception unit 123 may receive the input.

[0117] In this case, the reduction gear proposal unit 132 may sequentially incorporate each of the multiple reduction gears stored in the reduction gear information storage unit 141 into a robot whose specifications have been accepted by the first acceptance unit 121, and analyze the behavior of each reduction gear when the robot is operated under the operating conditions accepted by the third acceptance unit 123. The reduction gear proposal unit 132 may propose, as candidates, reduction gears whose predicted lifespan is equal to or greater than the required lifespan and which satisfy the desired behavior.

[0118] The above is the configuration related to the selection support function. Next, the operation related to the selection support function will be described. The support device 100 provides the selection support screen 20 to the user terminal 200 in response to a request. The user inputs robot specification information, robot operating conditions, and the required lifespan of the reduction gear into the selection support screen 20 via the user terminal 200. When the proposal button 56 on the selection support screen 20 is selected, the user terminal 200 transmits each information item on the selection support screen 20 to the support device 100. The first reception unit 121 of the support device 100 receives the robot specification information. The third reception unit 123 receives the robot operating conditions and the required lifespan of the reduction gear. The lifespan prediction unit 130 sequentially incorporates each of the multiple reduction gears stored in the reduction gear information storage unit 141 into a robot having specifications accepted by the first reception unit 121, and predicts the lifespan of each of the multiple reduction gears when the robot is operated under the operating conditions accepted by the third reception unit 123. The reduction gear proposing unit 132 proposes candidates for reduction gears based on the results of the life prediction by the life prediction unit 130 .

[0119] According to this embodiment, the assistance device 100 sequentially incorporates each of the multiple reduction gears into a robot with specifications received from a user, predicts the lifespan of each of the multiple reduction gears when the robot is operated under the operating conditions received from the user, and suggests candidate reduction gears based on the prediction results. Therefore, according to this embodiment, it is possible to select a more appropriate reduction gear while reducing the burden on the user.

[0120] The assistance device 100 proposes as candidates reduction gears whose predicted life spans are equal to or longer than the required life span accepted by the user. According to this embodiment, a more appropriate reduction gear can be selected.

[0121] The present disclosure has been described above based on the embodiments. These embodiments are merely examples, and it will be understood by those skilled in the art that various modifications are possible in the combination of the respective components and processing steps, and that such modifications are also within the scope of the present disclosure. These modifications will be described below.

[0122] (First Modification) In the above embodiment, the case where the life prediction unit 130 predicts the life of the entire reduction gear transmission has been described. However, the life prediction unit 130 may also predict the life of each of multiple parts of the reduction gear transmission.

[0123] The life prediction unit 130 may predict the life of each of the multiple parts using known or future available prediction techniques. The life prediction means may be different for each of the multiple parts. For example, the life prediction unit 130 may predict the life of each of the multiple parts using known or future available life calculation formulas for each of the multiple parts. The multiple parts may be, for example, main bearings such as cross roller bearings, eccentric bearings, and gear tooth surfaces.

[0124] The predicted lifespan providing unit 131 may provide the user with the predicted lifespan of each of the multiple parts of the reduction gear. Alternatively, the predicted lifespan providing unit 131 may provide the user with the predicted lifespan of the part with the shortest predicted lifespan of the multiple parts of the reduction gear. In other words, the predicted lifespan providing unit 131 may provide the user with the predicted lifespan of the part with the shortest predicted lifespan of the multiple parts of the reduction gear as the predicted lifespan of the reduction gear.

[0125] The reduction gear suggestion unit 132 determines whether the life of the part with the shortest predicted life among the multiple parts predicted by the life prediction unit 130 satisfies a specified life condition, and if the shortest predicted life does not satisfy the specified life condition, it may suggest to the user a reduction gear other than the reduction gear in question.

[0126] (Second Modification) The third reception unit 123 may further receive the environmental temperature around the reduction gear as an operating condition. For example, the third reception unit 123 may receive the environmental temperature from the user via the user terminal 200. Alternatively, a temperature sensor may be attached to an appropriate position, for example, on the reduction gear, and the third reception unit 123 may receive the environmental temperature from the temperature sensor. The life expectancy prediction unit 130 may predict the life expectancy of the reduction gear by taking into account the environmental temperature received by the third reception unit 123. For example, when the life expectancy prediction unit 130 predicts the life expectancy using a life expectancy calculation formula, the life expectancy calculation formula may include the environmental temperature [°C] as a variable. According to this modification, the life expectancy of the reduction gear can be predicted with higher accuracy.

[0127] (Third Modification) Although not specifically mentioned in the embodiment, the life prediction unit 130 may predict the life of the lubricant sealed in the reduction gear, in other words, the replacement cycle of the lubricant. That is, the life prediction unit 130 may predict the life of the lubricant sealed in the reduction gear when a reduction gear identified by the reduction gear identification unit 126 based on the specification accepted by the second acceptance unit 122 is incorporated into a joint of a robot having specifications accepted by the first acceptance unit 121, and the robot is operated under operating conditions accepted by the third acceptance unit 123. The life prediction unit 130 may predict the life of the lubricant using known or future available technology.

[0128] (Fourth Modification) In the embodiment, the robot state information creation unit 133 associates the robot state information with a label indicating whether or not an abnormality has occurred in the robot and stores the information in the robot state information storage unit 143. However, this is not limited to this. The robot state information creation unit 133 may also associate the robot state information with a label indicating whether the reduction gear of each joint is normal or abnormal.

[0129] (Fifth Modification) Unlike the embodiment, the status information stored in the material information storage unit 142 may include a warning status in addition to normal and abnormal status. The warning status indicates a state in which the reduction gear is likely to fail. In this case, if at least one of the reduction gears of each joint used to create the robot status information is in a warning status, the robot status information creation unit 133 sets the created robot status information as robot status information in a warning status, that is, robot status information for a case in which the robot (specifically, at least one reduction gear incorporated in the robot) is in a warning status. In this case, the robot status information creation unit 133 associates the robot status information with a warning status label and stores it in the robot status information storage unit 143. Alternatively, for example, a brand new status may be labeled "0," a completely failed status may be labeled "1," and statuses between these may be labeled in increments of 0.1. In this case, a predetermined range (e.g., 0.5 to 0.7) may be labeled as a warning status, and anything above that (e.g., 0.8 or greater) may be labeled as a failure status.

[0130] In the embodiments and variant examples, the support device 100 has been described primarily as a device, but the present disclosure can also be seen as a reduction gear selection support method having steps executed by the support device 100, as disclosure of a program for causing the support device 100 to execute each of the steps, or as disclosure of a storage medium on which the program is stored.

[0131] The present disclosure can be used in an assistance device.

[0132] 10 Support system, 100 Support device, 121 First reception unit, 122 Second reception unit, 123 Third reception unit, 127 Analysis unit, 129 Analysis result provision unit, 133 Robot state information creation unit, 140 Storage unit.

Claims

1. An assistance device comprising: a memory unit that stores characteristic information of the reduction gear in association with information capable of identifying the type of reduction gear; a first reception unit that receives robot specification information; and a second reception unit that receives designation of a reduction gear to be incorporated into each joint of the robot, wherein the memory unit stores characteristic information when the reduction gear is in a normal state and characteristic information when the reduction gear is in an abnormal state; and the assistance device further comprises a robot status information creation unit that creates robot status information indicating the state of the robot when the designated reduction gear is incorporated into each joint and the robot is operated, for each of the cases where the reduction gear is normal and abnormal.

2. The support device of claim 1, wherein the characteristic information of the reduction gear is information that changes according to changes in the condition of the reduction gear, and the support device is equipped with: an analysis unit that analyzes the behavior of the robot in which a specified reduction gear is incorporated into each joint; and a result providing unit that provides the analysis results to a user.

3. The support device according to claim 1, wherein the robot status information creation unit sets robot status information when the reduction gear is normal as normal robot status information, and sets robot status information when the reduction gear is abnormal as abnormal robot status information.

4. The support device according to claim 1, wherein the robot state information creation unit creates, as the robot state information, motor currents of motors that drive reduction gears of each joint.

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